[humble binary] BT: „missing port [value]” for blackboard “{goal}” about navigation2 HOT 5 CLOSED

Asking RSE, this is not the right place to obtain general behavior tree Q&A.

from navigation2.

I would consider it it is a bug and probably tricky one BT vs Nav2 wrapper, not just generic question on how BT behaves as I don't see the reason it should not work correctly.

The bug is
<SetBlackboard value="{goal}" output_key="orignalGoal" />
yields

Behavior tree threw exception: missing port [value]. Exiting with failure

the resto of the description provided above is just the "context"

from navigation2.

That is not a question for Nav2, but BT.CPP. This is not the right place for generic help - please read BT.CPP documentation and if you still have any questions, ask on RSE.

from navigation2.

I think it is a bug between Nav2 and BT.CPP (BT.CPP may not know anything how {goal} is defined by Nav2.) My suspicion is that {goal} may not serialize to String).

Not quite sure what you mean asking on RSE - as I'm reporting a bug not just asking a question.

from navigation2.

FYI, I just wrote a unit test and both version 3.8 and 4.4 pass without any issue

from navigation2.